Pedestrian detection procedure integrated into an 24 GHz automotive radar

Rohling, Hermann; Heuel, Steffen; Ritter, Henning

doi:10.1109/radar.2010.5494432

Cited by 69 publications

(41 citation statements)

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“…We used a Velodyne VLP-16 lidar and a 24-GHz frequency modulated continuous wave (FMCW) radar 23,24 in the experiment. Table 1 shows their critical specifications.…”

Section: Methodsmentioning

confidence: 99%

Detection scheme for a partially occluded pedestrian based on occluded depth in lidar–radar sensor fusion

et al. 2017

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Son, "Detection scheme for a partially occluded pedestrian based on occluded depth in lidar-radar sensor fusion," Opt. Eng. 56(11), 113112 (2017), doi: 10.1117/1.OE.56.11.113112. Abstract. Object detections are critical technologies for the safety of pedestrians and drivers in autonomous vehicles. Above all, occluded pedestrian detection is still a challenging topic. We propose a new detection scheme for occluded pedestrian detection by means of lidar-radar sensor fusion. In the proposed method, the lidar and radar regions of interest (RoIs) have been selected based on the respective sensor measurement. Occluded depth is a new means to determine whether an occluded target exists or not. The occluded depth is a region projected out by expanding the longitudinal distance with maintaining the angle formed by the outermost two end points of the lidar RoI. The occlusion RoI is the overlapped region made by superimposing the radar RoI and the occluded depth. The object within the occlusion RoI is detected by the radar measurement information and the occluded object is estimated as a pedestrian based on human Doppler distribution. Additionally, various experiments are performed in detecting a partially occluded pedestrian in outdoor as well as indoor environments. According to experimental results, the proposed sensor fusion scheme has much better detection performance compared to the case without our proposed method.

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“…We used a Velodyne VLP-16 lidar and a 24-GHz frequency modulated continuous wave (FMCW) radar 23,24 in the experiment. Table 1 shows their critical specifications.…”

Section: Methodsmentioning

confidence: 99%

Detection scheme for a partially occluded pedestrian based on occluded depth in lidar–radar sensor fusion

et al. 2017

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show abstract

“…To distinguish between the echo signal characteristics of pedestrians and vehicles, a target recognition model is described which is based on the specific velocity profile and range profile for each object separately [4]. The velocity profile describes the extension of the different velocities of an object measured by the radar sensor, while the range profile shows the physical expansion of a target.…”

Section: Radar Echo Signal Measurementsmentioning

confidence: 99%

“…Therefore, the radar signal processing part has to be adapted to the assumption of extended targets with a characteristic range profile and a velocity profile (e.g. based on the Doppler Spectrum) in general [4]. The detailed analysis of the resulting range profile and target's velocities is possible and can be used to recognize pedestrians in urban areas with conventional 24 GHz radar sensors.…”

Section: Introductionmentioning

confidence: 99%

Pedestrian Recognition Based on 24 GHz Radar Sensors

Heuel¹,

Rohling²

2013

Ultra-Wideband Radio Technologies for Communications, Localization and Sensor Applications

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“…Among the different kinds of sensors developed to improve vehicle safety and autonomy, radar appears to be a solution of choice because of its all-weather operating capability [1]. In addition, radar systems are easy to integrate on a car as they can be installed behind the bumpers [2].…”

Section: Introductionmentioning

confidence: 99%